发布求助
文献互助 智能选刊 最新文献

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)最新文献

筛选
英文 中文
Precise position control of robot arms using a homogeneous ER fluid 使用均匀ER流体的机械臂精确位置控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680712
N. Takesue, Guoguang Zhang, J. Furusho, M. Sakaguchi
{"title":"Precise position control of robot arms using a homogeneous ER fluid","authors":"N. Takesue, Guoguang Zhang, J. Furusho, M. Sakaguchi","doi":"10.1109/ROBOT.1998.680712","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680712","url":null,"abstract":"A semiclosed-loop control which utilizes the signal of an encoder mounted on a servomotor is adopted in the control of industrial robots. In this method, the position of the end-effector is not controlled very accurately. Therefore, we aim to apply a closed-loop control which uses the positional signal measured directly at the end-effector. Because of the flexibility of the driving system, however, it is very difficult to control the arm based on this method. In this study, a robot arm is developed which has a variable damper using an electrorheological fluid (ER fluid). It is shown that the ER damper is very effective for precise position control based on a closed-loop control method.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"33 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"133044389","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 51
A twenty-four hour tele-nursing system using a ring sensor 使用环形传感器的24小时远程护理系统
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676438
Boo-Ho Yang, S. Rhee, H. H. Asada, d’Arbeloff
{"title":"A twenty-four hour tele-nursing system using a ring sensor","authors":"Boo-Ho Yang, S. Rhee, H. H. Asada, d’Arbeloff","doi":"10.1109/ROBOT.1998.676438","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676438","url":null,"abstract":"This paper presents the development of the ring sensor to monitor a patient 24 hours a day for a tele-nursing system. The ring sensor is worn by the patient at all times, hence the health status is monitored 24 hours a day. The sensors packed into the ring include LEDs with different wavelengths, and technologies of photoplethysmography and pulse oximetry are implemented on the ring. The sensor data are transmitted to a computer through the digital wireless communication link and the patient status is analyzed continually and remotely. Any trait of abnormal health status and possible accidents is detected by analyzing the sensor data. A combination of a global receiver and multiple local ones are used to estimate the patient's location and activity. Both the physiological data and the position information can be used to make an accurate decision as to whether a warning signal must be sent to a medical professional caring the patient. An issue of power reduction for miniaturization of the ring sensor is also addressed.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"102 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"127645207","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 72
Heterogeneous function-based human/robot cooperations 基于异构功能的人/机器人合作
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677282
N. Xi, T. Tarn
{"title":"Heterogeneous function-based human/robot cooperations","authors":"N. Xi, T. Tarn","doi":"10.1109/ROBOT.1998.677282","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677282","url":null,"abstract":"Explores a new dimension in the area of human/robot cooperation: heterogeneous human/robot cooperations. The heterogeneity of human and robot functions can be characterized by the fact that humans are intelligent while robots are fast, powerful and accurate. The important issue, in light of human/robot heterogeneity, is how to plan and control a robotic operation such that the human and the robot can cooperate in a complementary manner. In the paper, the specific problems to be discussed include developing a perceptive action reference frame to integrate human/robot heterogeneous functions; and modeling, analyzing and designing an integrated human/robot system with respect to the perceptive reference frame. These lead to the development of theoretical results on stability of human/robot cooperations, and special methods for planning and control of human/robot integrated systems. The implementations and experimental results presented demonstrate the advantages of the proposed methods.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"115631202","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 9
Architecture of a GPS-based guiding system for road compaction 基于gps的道路压实导向系统的体系结构
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680703
L. Pampagnin, F. Peyret, G. Garcia
{"title":"Architecture of a GPS-based guiding system for road compaction","authors":"L. Pampagnin, F. Peyret, G. Garcia","doi":"10.1109/ROBOT.1998.680703","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680703","url":null,"abstract":"In road layer compaction, it is essential that the right level of energy should be transmitted to the material, with a uniform distribution. This energy depends on the number of runs, or passes, of the machine. The main objective of CIRCOM is to assist the driver to perform the exact number of passes, at the right speed, everywhere on the surface to be compacted. From this improvement of quality in terms of level and uniformity of density, will result significant gains in road life-time, equipment operating time and material savings. To perform this task, it is essential to provide the operator and the system with an accurate and continuous location of the machine. The second objective is to record the actual work achieved by the compactor, in terms of trajectory and number of passes on every point, in order to feed the site database and to perform a global quality control at the site level. The main constraint is at the level of ergonomics; the system must be very simple and user-friendly.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"19 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124224039","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 29
Forward dynamics of multilegged vehicles using the composite rigid body method 基于复合刚体方法的多足车辆前向动力学研究
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677017
S. McMillan, D. Orin
{"title":"Forward dynamics of multilegged vehicles using the composite rigid body method","authors":"S. McMillan, D. Orin","doi":"10.1109/ROBOT.1998.677017","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677017","url":null,"abstract":"A new method for simulating multilegged vehicles, using the composite rigid body (CRB) method is presented. Previous approaches use hard constraints and result in closed kinematic loops which require the solution of constraint forces. Using the decoupled tree-structure (DTS) approach compliant contact modeling is used when the feet of the vehicle contact the ground. This approach is compared to the articulated body DTS method (AB/DTS), and proves to be the most computationally efficient method for multilegged vehicles when each leg has up to three degrees of freedom.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"93 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"124543640","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 30
On the spatial impedance control of Gough-Stewart platforms Gough-Stewart平台的空间阻抗控制
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677419
E. Fasse, C. Gosselin
{"title":"On the spatial impedance control of Gough-Stewart platforms","authors":"E. Fasse, C. Gosselin","doi":"10.1109/ROBOT.1998.677419","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677419","url":null,"abstract":"Looks at the control of mechanical impedance of the so-called Gough-Stewart class of parallel platforms. Two methods of compliance control are presented. One is based on global potential energy functions that have previously been applied to controlling serial manipulators and electrodynamically levitated platforms. The second uses the exponential map to associate finite displacements of the platform from equilibrium with screw displacements. Compliant wrenches are then proportional to the screw displacements. Control of spatial damping is addressed as well, justifying the classification as impedance control. Control algorithms and simulation results are given.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"200 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114312761","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 13
Task-priority redundancy resolution for underwater vehicle-manipulator systems 水下航行器-操纵器系统的任务优先级冗余分解
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.677070
G. Antonelli, S. Chiaverini
{"title":"Task-priority redundancy resolution for underwater vehicle-manipulator systems","authors":"G. Antonelli, S. Chiaverini","doi":"10.1109/ROBOT.1998.677070","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.677070","url":null,"abstract":"An underwater vehicle-manipulator system (UVMS) usually has more degrees of freedom than those required to attain given end-effector postures. Therefore, the UVMS is a redundant system and kinematic control algorithms can be applied aimed at achieving additional control objectives such as energy savings or increase of system manipulability. This paper presents a task-priority inverse kinematics approach to redundancy resolution for a UVMS. Three case studies are developed to demonstrate the effectiveness of the technique in different applications.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"70 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114407621","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 132
A collision checker for car-like robots coordination 汽车机器人协调的碰撞检查器
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.676252
T. Siméon, Stéphane Leroy, J. Laumond
{"title":"A collision checker for car-like robots coordination","authors":"T. Siméon, Stéphane Leroy, J. Laumond","doi":"10.1109/ROBOT.1998.676252","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.676252","url":null,"abstract":"The paper presents a geometric algorithm dealing with collision checking in the framework of multiple mobile robot coordination. We consider that several mobile robots have planned their own collision-free path by taking into account the obstacles, but ignoring the presence of other robots. We first compute the domain swept by each robot when moving along its path - such a domain is called a trace. Then the algorithm computes the coordination configurations for one robot with respect to the others, i.e. the configurations along the path where the robot enters the traces of the other robots or exits from them. This information may be exploited to coordinate the motions of all the robots.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"7 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114462151","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 7
Sonar resolution-based environment mapping 基于声纳分辨率的环境映射
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680724
Ldyla Cahut, K. Valavanis, H. Deliç
{"title":"Sonar resolution-based environment mapping","authors":"Ldyla Cahut, K. Valavanis, H. Deliç","doi":"10.1109/ROBOT.1998.680724","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680724","url":null,"abstract":"Ultrasonic range sensors are used to obtain the information required for collision-free navigation of a mobile robot in a semi-structured or unstructured environment. A set of range readings from a ring of sonars are correlated to acquire a 2D map of the robot's environment. The map is continuously enhanced via novel matching and update algorithms as new data are collected while the robot is in motion. The algorithm utilizes confidence measures that are directly obtained from the sonar's resolution or accuracy. There are no additional modeling assumptions and the approach is robust. The algorithms are experimentally tested on the Nomad 200 mobile robot and Nomad's Cognos Software Development Package.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"37 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"114551276","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 17
Model-based car tracking integrated with a road-follower 基于模型的汽车跟踪集成了道路跟踪器
Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI: 10.1109/ROBOT.1998.680587
F. Dellaert, D. Pomerleau, C. Thorpe
{"title":"Model-based car tracking integrated with a road-follower","authors":"F. Dellaert, D. Pomerleau, C. Thorpe","doi":"10.1109/ROBOT.1998.680587","DOIUrl":"https://doi.org/10.1109/ROBOT.1998.680587","url":null,"abstract":"This paper discusses how we integrated our 3D car tracking approach with the lane following module RALPH on the Navlab autonomous vehicles, obtaining a hybrid vision system that tracks both the road and cars better than those two systems in isolation. The tracking system brings precise and crisp measurements of the car in the image, and performs image stabilization. However, because it does not know, about the yaw or lateral offset of the ego-vehicle, its curvature estimate can be misguided. RALPH takes a more global image processing approach and can provide this missing information, as well as a good estimate of curvature, so that the combined curvature estimate is superior to both taken in isolation. The additional information provided by RALPH also improves tracking performance, and allows us to estimate properties of the tracked car that were previously unobservable, in particular its in-lane displacement. Better car tracking, and a better idea of where the road is, gives us a substantial foundation on which to base other capabilities needed to realize fully autonomous vehicles.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"105 1","pages":"0"},"PeriodicalIF":0.0,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":null,"resultStr":null,"platform":"Semanticscholar","paperid":"117207839","PeriodicalName":null,"FirstCategoryId":null,"ListUrlMain":null,"RegionNum":0,"RegionCategory":"","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":"","EPubDate":null,"PubModel":null,"JCR":null,"JCRName":null,"Score":null,"Total":0}
引用次数: 47
首页 上一页 下一页 尾页
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整，为了账户安全，请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
现在去查看 取消
×
提示
确定
请完成安全验证×
相关产品
×
本文献相关产品
联系我们：info@booksci.cn Book学术提供免费学术资源搜索服务，方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号：481959085
Book学术官方微信